©2019 by IPNL3. 

Data Collection Platform in Tokyo

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The platform for data collection in Hong Kong is a Honda Fit. The platform is equipped with the following sensors:

  • 1  3D LiDAR sensor (, 360 HFOV, +10~-30 VFOV, 80m range, 10Hz)

    • Model: ​HDL 32E Velodyne.

    • Vertical Field of view (FOV): +10~-30 degrees.

    • Horizontal Field of view (FOV): 360 degrees.

    • Ranging: 0.1~80 meters.

    • Data rate: 10 Hz.

    • Channels: 32

    • Accuracy: ± 2 cm accuracy

  • 1  INS/IMU (Xsens Mti 10, 100 Hz, AHRS)​

    • Model: ​Xsens Mti 10.

    • Data rate: 100 Hz.

    • Gyro bias stability: 18 degrees/hour

    • Temperature: -40 to 85 ºC

  • Multiple  GNSS receivers 

    • Model: ​u-blox F9

      • Data rate: 1 Hz.

      • GNSS: BeiDou, Galileo, GLONASS, GPS / QZSS

      • GNSS Bands: L2OF, L2C, E1B/C, B2I, E5b, L1C/A, L1OF, B1I

      • Oscillator: TCXO

      • Temperature: -40 to 85 ºC

      • Size (mm): 17.0 × 22.0 × 2.4

      • Data provided:

        • Archived RINEX 3.02 data from GNSS Reference Station (for RTK purpose) and ECEF position of the reference station.

        • Raw GNSS measurements. (More information can be found in data format page)

    • Model: ​Geodetic GNSS receiver – NovAtel Flexpak 6 (Hong Kong)

      • Data rate: 1 Hz.

      • GNSS: BeiDou, Galileo, GLONASS, GPS / QZSS

      • GNSS Bands: L2OF, L2C, E1B/C, B2I, E5b, L1C/A, L1OF, B1I

  • 1  Monocular Camera,

    • Model for the camera: ​BFLY-U3-23S6C-C

      • Frame rate: 20FPS​

      • Lens Mount: C-mount

      • Pixel Size: 5.86 µm

      • Resolution： 1920 × 1200

      • Sensor Type： CMOS

      • Sensor Format: 1/1.2"

      • Chroma: Color

    • Model for the lens:

      • Sensor Compatibility: 1" 

      • Lens Mount: C-mount

      • Focal Length: 6mm 

      • Focus Type: Color

      • The angles of View: 

        • Vertical: 79.4° ​

        • Horizontal: 96.8° 

        • Diagonal: 108.4°

    • Extrinsic Parameters for Camera: The intrinsic parameters of the Monocular camera can be found here.

  • 1  NovAtel SPAN-CPT (high-grade RTK GNSS/INS integrated navigation system, 20 Hz, GPS/BeiDou/GLONASS)

    • Model: ​SPAN-CPT

    • Data rate: 10 Hz.

    • GNSS: BeiDou, Galileo, GLONASS, GPS / QZSS

    • GNSS Bands: L2OF, L2C, E1B/C, B2I, E5b, L1C/A, L1OF, B1I

    • Accuracy(RMS)

    • Single Point L1/L21.5m

    • SBAS0.6m

    • DGPS0.4m

    • NovAtel CORRECT™

    • TERRASTAR-C4 cm

    • Verizon Apex6 cm

    • RT-2®1 cm + 1 ppm

    • Gyro Bias In-run Stability (±deg/hr):1

    • Gyro Bias Offset (deg/hr):20

    • Gyro Angular Random Walk (deg/√ hr):0.067

    • Gyro Scale Factor (ppm):1500

    • Gyro Range (±deg/s):375

    • Accelerometer Bias (mg):50

    • Accelerometer Scale Factor (ppm):4000

    • Accelerometer Range (±g):10

 

The detail of the extrinsic parameters between multiple sensors can be found here!

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